Systems and methods for controlling an unmanned aerial vehicle

ABSTRACT

Systems and methods for controlling an unmanned aerial vehicle are disclosed. The system comprises an image sensor configured to generate output signals conveying visual information, the visual information including one or more images of a user, and one or more physical processors. The one or more physical processors are configured by computer-readable instructions to recognize one or more gestures from the user based on the visual information, interpret the one or more gestures from the user as flight control information, and provide flight control for the unmanned aerial vehicle based on the flight control information.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a continuation of U.S. patent application Ser. No.16/203,712, filed Nov. 29, 2018, which is a continuation of U.S. patentapplication Ser. No. 15/606,700, filed May 26, 2017, now U.S. Pat. No.10,175,687, which is a continuation of U.S. patent application Ser. No.14/978,782, filed Dec. 22, 2017, now U.S. Pat. No. 9,663,227, the entiredisclosures of which are hereby incorporated by reference.

TECHNICAL FIELD

The invention relates to flight control for unmanned aerial vehiclesthat include sensors, and, in particular, to interpreting gestures by auser to adjust the operation of an unmanned aerial vehicle and/or itssensors.

BACKGROUND

It is known that unmanned aerial vehicles, or UAVs, may be equipped withautomated flight control, remote flight control, programmable flightcontrol, and/or other types of flight control, and/or combinationsthereof. Some UAVs may carry sensors, including but not limited to imagesensors configured to capture image information.

SUMMARY

One aspect of the invention relates to a system for controlling anunmanned aerial vehicle. An unmanned aerial vehicle may be referred toas UAV. The term “unmanned” refers to the capability of the aerialvehicle to operate without requiring a human operator onboard during aflight. In other words, at least some portion of the flight control maybe provided remotely and/or by an autopilot (also referred to as acontrol system or a control subsystem or a flight control subsystem). Insome implementations, a UAV may carry passengers, cargo, sensors, and/orother physical objects. In some implementations, a UAV may operateautonomously. Alternatively, and/or simultaneously, in someimplementations, at least some functionality of a UAV may be controlledand/or modified through remote control, e.g. by a person, for at leastsome portion of a flight. For example, a human may control and/or assistremotely in a particular maneuver, such as a take-off or landing.

Autonomous operation and remote control operation may be provided duringthe same flight. By way of non-limiting example, the modes of operationof a UAV may include autonomous operation, remote control operation,combinations thereof, and/or other modes of operation. UAVs may havevarying degrees of autonomy.

A control system may provide one or more of stabilization control,navigation control, altitude control, propulsion control, enginecontrol, and/or other functions needed and/or used during operation of aUAV, which may jointly be referred to as flight control. By way ofnon-limiting example, a UAV may be configured to provide one or more ofthe following functions: capture and/or interpret visual information,ground imagery, and/or surrounding imagery, capture and/or interpretsensor data (e.g. radar data), plan a path for the UAV, determine one ormore maneuvers to follow or maintain a particular path and/or other goalor target, to reach a particular destination, or to accomplish a goal ortarget, avoid obstacles and/or collisions, accommodate in-flightinstructions (e.g. from a user and/or a control tower or similarauthority), coordinate with external agents (e.g. other UAVs), and/orother functions.

In some implementations, a UAV may be controlled by a system thatsupports multiple modes of autonomous operation and/or multiple modes ofremote control operation.

A UAV may be a fixed wing aircraft, a helicopter, a multi-rotor aircraft(e.g. a quadcopter), a rotary wing aircraft, and/or another type ofaircraft. In some implementations, a UAV may combine features ofmultiple types of aircraft. A UAV may include one or more componentsconfigured to provide lift force. By way of non-limiting example, theone or more components providing lift force may include one or morewings, airfoils, propellers, rotors, rotor discs, and/or othercomponents.

The system for controlling a UAV may include one or more of a housing, aflight control subsystem, one or more sensors, a sensor controlsubsystem, a remote controller, a controller interface, one or morephysical processors, one or more computer program components, and/orother components. An individual subsystem may include one or moresensors, one or more physical processors, one or more computer programcomponents, and/or other components.

The flight control subsystem may be configured to provide flight controlfor the UAV. Operation of the flight control subsystem may be based onflight control information. Flight control information may be based oninformation and/or parameters determined and/or obtained by the systemfor controlling the UAV. In some implementations, flight controlinformation may be transmitted by the remote controller. In someimplementations, flight control information may be received by thecontroller interface.

Individual sensors may be configured to generate output signalsconveying information. The information may include visual information.The information may be related to one or more flight parameters of aUAV. Flight parameters of a UAV may include, by way of non-limitingexample, altitude, barometric pressure, (geographical) location,longitude, latitude, (3-dimensional) position, roll, yaw, pitch, tilt,angular rate, attack angle, slide-slip angle, heading, speed,magnetometric measurement, cardinal direction (e.g. relative to atarget), distance from a target, estimated time to reach a target,and/or other flight parameters. In some implementations, individualflight parameter may represent a current status or condition of the UAV,e.g. as measured, derived, estimated, approximated, and/or otherwisedetermined based on one or more output signals generated by one or moresensors.

Sensors may include, by way of non-limiting example, one or more of analtimeter (e.g. a sonic altimeter, a radar altimeter, and/or other typesof altimeters), a barometer, a magnetometer, a pressure sensor (e.g. astatic pressure sensor, a dynamic pressure sensor, a pitot sensor,etc.), a thermometer, an accelerometer, a gyroscope, an inertialmeasurement sensor, global positioning system sensors, a tilt sensor, amotion sensor, a vibration sensor, an image sensor, a camera, anultrasonic sensor, an infrared sensor, a light sensor, a microphone, anair speed sensor, a ground speed sensor, an altitude sensor, medicalsensors (including but not limited to blood pressure sensor, pulseoximeter, heart rate sensor, etc.), degree-of-freedom sensors (e.g.6-DOF and/or 9-DOF sensors), a compass, and/or other sensors. In someimplementations, an individual subsystem may include (and/or beassociated with) one, two, three, four, or more sensors. Differentcontrol subsystems may include and/or be associated with differentsensors.

Individual sensors may include image sensors, cameras, depth sensors,remote sensors, and/or other sensors. As used herein, the terms “camera”and/or “image sensor” may include any device that captures images,including but not limited to a single lens-based camera, a camera array,a solid-state camera, a mechanical camera, a digital camera, an imagesensor, a depth sensor, a remote sensor, a lidar, an infrared sensor, a(monochrome) complementary metal-oxide-semiconductor (CMOS) sensor, anactive pixel sensor, and/or other sensors. Individual sensors may beconfigured to capture information, including but not limited to visualinformation, video information, audio information, geolocationinformation, orientation and/or motion information, depth information,and/or other information. Information captured by one or more sensorsmay be marked, timestamped, annotated, and/or otherwise processed suchthat information captured by other sensors can be synchronized, aligned,annotated, and/or otherwise associated therewith. For example, videoinformation captured by an image sensor may be synchronized withinformation captured by an accelerometer. Associated information frommultiple sensors may be used, e.g., subsequent to information beingcaptured, to create multimedia content based on the capturedinformation.

The sensor control subsystem may be configured to control sensorsincluded in the system for controlling the UAV, and/or other sensors.Operation of the sensor control subsystem may be based on sensor controlinformation. Sensor control information may be based on informationand/or parameters determined and/or obtained by the system forcontrolling the UAV. In some implementations, sensor control informationmay be transmitted by the remote controller. In some implementations,sensor control information may be received by the controller interface.In some implementations, the sensor control subsystem may be configuredto control one or more image sensors such that the visual informationcaptured by the one or more image sensors includes an image of aparticular object or user.

Individual physical processors may be configured via computer-readableinstructions to provide information-processing capabilities and/orexecute computer program components. The computer program components mayinclude one or more of a parameter determination component, a flightcontrol component, a sensor control component, a gesture interpretationcomponent, a projection component, a pattern recognition component,and/or other components.

The parameter determination component may be configured to determineflight parameters and/or other parameters related to a UAV based onoutput signals from sensors. For example, the parameter determinationcomponent may be configured to determine an altitude of the UAV based ona sensor, e.g. an altimeter. For example, the parameter determinationcomponent may be configured to determine a distance between the UAV anda particular object based on information from a sensor, e.g. an imagesensor.

The flight control component may be configured to determine controlparameters based on output signals from sensors, flight parameters,and/or other parameters. Control parameters may control operation of aUAV. Control parameters may control one or more of the stabilization,navigation, altitude, propulsion, engine operations, and/or otherfunctions needed and/or used during operation of a UAV. Controlparameters may be used to provide flight control for a UAV. By way ofnon-limiting example, control parameters may correspond to the signalsthat control the power and/or thrust generated by a motor and/or engine,the positions of one or more ailerons, an elevator, one or more rudders,one or more throttles, rotation rates of one or more rotor discs, and/orother signals that control operation of a UAV. Different types of UAVmay operate using different sets of control parameters. In someimplementations, control parameters may include particular targets orgoals for a UAV and/or for one or more flight parameters of a UAV. Forexample, a control parameter may include or be related to one or more ofa particular destination, a particular flight path, a target altitude, atarget arrival time and/or flight duration, and/or other targets orgoals for a UAV.

The sensor control component may be configured to determine sensorparameters based on output signals from sensors, flight parameters,and/or other parameters. Sensor parameters may control operation of asensor. For example, sensor parameters may be related to the operationof an image sensor. In some implementations, the sensor parameters maycontrol one or more of aperture timing, exposure, focal length, angle ofview, depth of field, focus, light metering, white balance, resolution,frame rate, object of focus, capture angle, a zoom parameter, videoformat, a sound parameter, a compression parameter, and/or otherparameters.

The gesture interpretation component may be configured to recognizeand/or interpret gestures from users. By way of non-limiting example,gestures may be interpreted as one or both of flight control informationand sensor control information. In some implementations, gestures may beaccompanied by other types of user input, including but not limited toan auditory command and/or request, a manipulation of a user interfaceelement (e.g. a button or switch), a tactile action (e.g. tapping theremote controller twice to prime the system for recognizing a gesture),and/or other types of user input.

The projection component may be configured to project a pattern on anobject or user. In some implementations, the pattern may be a visualpattern. For example, the pattern may include a barcode, a QuickResponse (QR) code, a target, and/or other patterns, and/or combinationsthereof. In some implementations, particular information (including butnot limited to commands, requests, targets, goals, etc.) may be embeddedin a pattern.

The pattern recognition component may be configured to recognize and/orinterpret patterns, including but not limited to patterns projected bythe projection component. By way of non-limiting example, patterns maybe interpreted as one or both of flight control information and sensorcontrol information.

The remote controller may be configured to transmit information,including but not limited to flight control information, sensor controlinformation, and/or other information. In some implementations, theremote controller may be a separate, distinct, and/or physicallyindependent component of the system. In some implementations, the remotecontroller may be a separate, distinct, and/or physically independentcomponent from the UAV and/or the housing. In some implementations, theremote controller may be configured to be supported, worn, held, and/orcarried by a user. In some implementations, the remote controller mayinclude a user interface configured to receive user input. The userinput may include flight control information, sensor controlinformation, and/or other information. In some implementations, the userinput may include gestures by the user. In some implementations, thegesture interpretation component may be included in the remotecontroller.

The controller interface may be configured to determine and/or receiveflight control information, sensor control information, and/or otherinformation. For example, the controller interface may be configured toreceive flight control information and/or sensor control informationfrom the remote controller. In some implementations, the controllerinterface may be included, combined, embedded, and/or otherwise form anintegral part of the UAV.

One aspect of the invention relates to methods for controlling anunmanned aerial vehicle.

These and other objects, features, and characteristics of the presentdisclosure, as well as the methods of operation and functions of therelated components of structure and the combination of parts andeconomies of manufacture, will become more apparent upon considerationof the following description and the appended claims with reference tothe accompanying drawings, all of which form a part of thisspecification, wherein like reference numerals designate correspondingparts in the various figures. It is to be expressly understood, however,that the drawings are for the purpose of illustration and descriptiononly and are not intended as a definition of the any limits. As used inthe specification and in the claims, the singular form of “a”, “an”, and“the” include plural referents unless the context clearly dictatesotherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically illustrates an unmanned aerial vehicle inaccordance with one or more implementations.

FIG. 2 schematically illustrates a scene including an unmanned aerialvehicle and a user in accordance with one or more implementations.

FIG. 3 schematically illustrates a scene including an unmanned aerialvehicle and a user in accordance with one or more implementations.

FIG. 4 schematically illustrates a scene including an unmanned aerialvehicle and two users in accordance with one or more implementations.

FIG. 5 illustrates a method for controlling an unmanned aerial vehiclein accordance with one or more implementations.

DETAILED DESCRIPTION

FIG. 1 schematically illustrates an unmanned aerial vehicle 10 (alsoreferred to as UAV 10), in particular a quadcopter. This quadcopter isan exemplary and non-limiting implementation of UAV 10. As illustratedin FIG. 1, UAV 10 may include four rotors 12. The number of rotors ofUAV 10 is not intended to be limited by any depiction. In someimplementations, UAV 10 may include zero, one, two, three, four, five,six, and/or more than six rotors. UAV 10 may include one or more of ahousing 11, a flight control subsystem 14, one or more sensors 15, asensor control subsystem 16, a remote controller 17 (shown in FIG. 2 asbeing worn or held by a user 101), a controller interface 18, one ormore physical processors 110, electronic storage 50, a user interface76, and/or other components. In some implementations, remote controller17 may operate as a beacon to guide UAV 10.

Housing 11 may be configured to support, hold, and/or carry UAV 10and/or components thereof. The combination of housing 11 and UAV 10and/or components supported, held, and/or carried by housing 11 may bereferred to as a system for controlling an unmanned aerial vehicle.

Flight control subsystem 14 may include one or more physical processors110, and/or other components. Sensor control subsystem 16 may includeone or more physical processors 110, and/or other components. Thedepiction in FIG. 1 of a single sensor 15, here depicted as a sensor 15a, is not intended to be limiting in any way. UAV 10 may include onesensor, two sensors, three sensors, and/or more than three sensors.

Flight control subsystem 14 may be configured to provide flight controlfor UAV 10. Operation of flight control subsystem 14 may be based onflight control information. Flight control information may be based oninformation and/or parameters determined and/or obtained to control UAV10. In some implementations, providing flight control may includefunctions including, but not limited to, flying UAV 10 in a stablemanner, tracking people or objects, avoiding collisions, and/or otherfunctions useful for autonomously flying unmanned aerial vehicles. Insome implementations, flight control information may be transmitted byremote controller 17. In some implementations, flight controlinformation may be received by controller interface 18.

One or more sensors 15 may be configured to generate output signalsconveying information. The information may include visual information,video information, audio information, geolocation information,orientation and/or motion information, depth information, and/or otherinformation. Information captured by one or more sensors 15 may bemarked, timestamped, annotated, and/or otherwise processed such thatinformation captured by other sensors (from one or more sensors 15 ofUAV 10) can be synchronized, aligned, annotated, and/or otherwiseassociated therewith. In some implementations, the conveyed informationmay be related to one or more flight parameters of UAV 10. In someimplementations, the conveyed information may be related to sensorparameters. In some implementations, the conveyed information may berelated to persons and/or objects near UAV 10 and/or user 101. In someimplementations, an individual flight parameter may represent a currentstatus or condition of UAV 10, e.g. as measured, derived, estimated,approximated, and/or otherwise determined based on one or more outputsignals generated by one or more sensors 15.

One or more sensors 15 may include image sensors, cameras, depthsensors, remote sensors, and/or other sensors. One or more sensors 15may be configured to capture information. Individual sensors may beconfigured to capture information, including but not limited to visualinformation, video information, audio information, geolocationinformation, orientation and/or motion information, depth information,and/or other information.

Sensor control subsystem 16 may be configured to control one or moresensors 15 included in UAV 10, and/or other sensors. Operation of sensorcontrol subsystem 16 may be based on sensor control information. Sensorcontrol information may be based on information and/or parametersdetermined and/or obtained by UAV 10 and/or components thereof In someimplementations, sensor control information may be transmitted by remotecontroller 17. In some implementations, sensor control information maybe received by controller interface 18. In some implementations, sensorcontrol subsystem 16 may be configured to control one or more imagesensors 15 such that the visual information captured by one or moreimage sensors 15 includes an image of a particular object or user, e.g.user 101 as depicted in FIG. 2.

By way of non-limiting example, FIG. 2 illustrates a scene including UAV10 and user 101. Sensor 15 of UAV 10 is aimed in a direction asindicated by direction 15 x to capture information that includes one orboth of remote controller 17 and user 101. Remote controller 17 may beconfigured to transmit information to UAV 10, e.g. in a direction asindicated by direction 15 x. In some implementations, UAV 10 may beconfigured to follow and/or track user 101 as he moves and/or otherwiseadjusts his position and/or location. In some implementations, UAV 10and/or components thereof may be configured to adjust sensor 15responsive to movement by user 101 such that user 101 continues to beincluded in the image information captured by sensor 15. In someimplementations, UAV 10 may be configured to maintain a target distance,elevation, and/or cardinal direction relative to remote controller 17,user 101, and/or another targeted object or person. In someimplementations, sensor control subsystem 16 may be configured tocapture a particular side of an object or person, e.g. the face of user101, and effectuate adjustments in the position of UAV 10 to accomplishsuch a target or goal.

Referring to FIG. 1, one or more physical processors 110 may beconfigured via computer-readable instructions to provideinformation-processing capabilities and/or execute computer programcomponents. The computer program components may include one or more of aparameter determination component 20, a flight control component 21, asensor control component 22, a gesture interpretation component 23, aprojection component 24, a pattern recognition component 25, and/orother components. As depicted in FIG. 1, UAV 10 includes two separateinstances of physical processor 110 that are included in flight controlsubsystem 14 and in sensor control subsystem 16. The number of physicalprocessors 110 is not intended to be limited in any way by the depictionin FIG. 1. The partitioning of physical processors 110 under anycomponent of UAV 10 or any control subsystem is not intended to belimited in any way by the depiction in FIG. 1.

Parameter determination component 20 may be configured to determineflight parameters and/or other parameters related to UAV 10.Determinations by parameter determination component 20 may be based onoutput signals from one or more sensors 15. For example, parameterdetermination component 20 may be configured to determine an altitude ofUAV 10 based on a sensor 15 a, e.g. an altimeter. For example, parameterdetermination component 20 may be configured to determine a distancebetween UAV 10 and use 101 or remote controller 17 based on informationfrom sensor 15 a, e.g. an image sensor.

Flight control component 21 may be configured to determine controlparameters based on output signals from sensors, flight parameters,and/or other parameters. Control parameters may control operation of UAV10. Control parameters may be used to provide flight control for UAV 10.In some implementations, control parameters may include particulartargets or goals for UAV 10 and/or for one or more flight parameters ofUAV 10. For example, a control parameter may include or be related toone or more of a particular destination, a particular flight path, atarget altitude, a target arrival time and/or flight duration, and/orother targets or goals for UAV 10. By way of non-limiting example,flight control subsystem 14 may be configured to control one or more ofaltitude, longitude, latitude, geographical location, heading, and/orspeed of UAV 10, and/or other control parameters.

Sensor control component 16 may be configured to determine sensorparameters based on output signals from one or more sensors 15, flightparameters, and/or other parameters. Sensor parameters may controloperation of one or more sensors. For example, sensor parameters may berelated to the operation of an image sensor 15 a. By way of non-limitingexample, sensor control subsystem 16 may be configured to control one ormore sensors 15 through adjustments of one or more of aperture timing,exposure, focal length, angle of view, depth of field, focus, lightmetering, white balance, resolution, frame rate, object of focus,capture angle, a zoom parameter, video format, a sound parameter, acompression parameter, and/or other sensor parameters.

Gesture interpretation component 23 may be configured to recognizeand/or interpret gestures from users, including but not limited to user101. In some implementations, gestures may be recognized and/orinterpreted by capturing depth information that includes user 101 andanalyzing patterns, positions, and/or movements of user 101, or parts ofthe body of user 101. By way of non-limiting example, gestureinterpretation component 23 may be configured to determine and/orrecognize one or more patterns, positions, and/or movements of the handsof user 101. In some implementations, individual particular patterns,positions, and/or movements of the hands of user 101 may correspond toparticular commands and/or requests to UAV 10 to perform an action oroperation. Performance of an action or operation by UAV 10 and/orcomponents thereof may correspond to one or both of flight controlinformation and sensor control information. Performance of an action oroperation by UAV 10 and/or components thereof may be implemented by oneor more of flight control subsystem 14, sensor control system 16, flightcontrol component 21, sensor control component 22, gestureinterpretation component 23, pattern recognition component 25, and/orother components of UAV 10. By way of non-limiting example, gestures maybe interpreted as one or both of flight control information and sensorcontrol information. In some implementations, features attributed togesture interpretation component 24 may be performed at or near user 101and/or another user. In some implementations, features attributed togesture interpretation component 24 may be performed at or near UAV 10and/or components thereof. In some implementations, features attributedto gesture interpretation component 24 may be performed in part at ornear user 101 and/or another user, and in part at or near UAV 10 and/orcomponents thereof.

For example, one or more gestures may be interpreted to adjust thealtitude differential between UAV 10 and one or more of remotecontroller 17, user 101, and/or another targeted object or person. Forexample, a gesture by user 101 of raising both hands above the head ofuser 101 may indicate a command and/or request for UAV 10 to increaseits altitude. Such a command and/or request may correspond to controlparameters and/or flight control information that may be used by flightcontrol subsystem 14 to control the position and/or movement of UAV 10.A gesture by user 101 of moving both hands from being outstretched andhorizontal to straight down and pointing to the ground may indicate acommand and/or request for UAV 10 to decrease its altitude. A gesture byuser 101 of aiming, poking, and/or thrusting toward an object or personmay indicate a command and/or request for UAV 10 to follow and/or trackthat particular object and/or person instead of, e.g., user 101.Gestures described in this disclosure are merely exemplary and notintended to be limiting in any way.

In some implementations, gestures may be accompanied by other types ofuser input, including but not limited to an auditory command, amanipulation of a user interface element (e.g. a button or switch), atactile action (e.g. tapping the remote controller twice to prime thesystem for recognizing a gesture), and/or other types of user input. Asused in this disclosure, gestures, interpretations, commands, andrequests are types of information that may be transmitted by remotecontroller 17, received by controller interface 18, and/or processed byone or more control subsystems and/or computer program components.

In some implementations, one or more gestures may be interpreted toadjust the distance between UAV 10 and one or more of remote controller17, user 101, and/or another targeted object or person. In someimplementations, one or more gestures may be interpreted to adjust thezooming factor of image sensor 15 a, e.g. to capture a wider shot or amore narrow shot of a scene including remote controller 17, user 101,and/or another targeted object or person. Such a command and/or requestto adjust the zooming factor may correspond to sensor parameters and/orsensor control information that may be used by sensor control subsystem16 to control the operation of one or more sensors 15.

In some implementations, one or more gestures may be interpreted toadjust the cardinal direction between UAV 10 and one or more of remotecontroller 17, user 101, and/or another targeted object or person. Forexample, the current cardinal direction (prior to a particular gesture)may be that UAV 10 is positioned East of remote controller 17.Subsequent to a particular gesture, UAV 10 may maneuver itself such thatUAV 10 is positioned South of remote controller 17. In someimplementations, one or more gestures may be interpreted to rotate UAV10 by a predetermined number of degrees around remote controller 17,user 101, and/or another targeted object or person. The predeterminednumber of degrees may be about 30, 45, 60, 90, 120, 180, and/or anothernumber of degrees.

In some implementations, one or more gestures may be interpreted asmeta-information regarding the information being captured by one or moresensors 15. For example, a particular gesture may mark, timestamp,annotate, and/or otherwise process information captured by one or moresensors 15. In some implementations, a particular gesture may be used tosynchronize, align, annotate, and/or otherwise associate capturedinformation with a particular person, object, moment, and/orduration/event.

By way of non-limiting example, FIG. 3 illustrates a scene including UAV10 and user 101. In the case illustrated in FIG. 3, UAV 10 may beconfigured to follow and/or track user 101 as he is kayaking. Remotecontroller 17 may be configured to recognize a gesture by user 101. Thegesture may be interpreted as a command and/or request to UAV 10 torotate UAV 10 by about 180 degrees around remote controller 17 and/oruser 101, thus moving from position A to position B, as indicated inFIG. 3.

Referring to FIG. 1, projection component 24 may be configured toproject a pattern on an object or user, e.g. user 101. In someimplementations, the pattern may be a visual pattern. For example, thepattern may include a barcode, a QR code, a target, and/or otherpatterns, and/or combinations thereof. In some implementations,projection component 24 may include and/or control a componentconfigured to emit electromagnetic radiation. The electromagneticradiation may produce a pattern, e.g. a visual pattern. In someimplementations, particular information (including but not limited tocommands, requests, targets, goals, etc.) may be embedded in a pattern.For example, flight control information and/or sensor controlinformation may be entered, received, and/or confirmed through a userinterface associated with remote controller 17. This information may beconverted to, embedded in, and/or otherwise processed into one or morepatterns for projection, e.g., by projection component 24.

Pattern recognition component 25 may be configured to recognize and/orinterpret patterns, including but not limited to patterns projected byprojection component 24. By way of non-limiting example, patterns may beinterpreted as one or both of flight control information and sensorcontrol information. For example, a pattern may be used to tag an objector person such that, subsequent to being tagged, UAV 10 may beconfigured to follow and/or track the tagged object or person. In someimplementations, features attributed to pattern recognition component 25may be performed at or near user 101 and/or another user. In someimplementations, features attributed to pattern recognition component 25may be performed at or near UAV 10 and/or components thereof. In someimplementations, features attributed to pattern recognition component 25may be performed in part at or near user 101 and/or another user, and inpart at or near UAV 10 and/or components thereof.

By way of non-limiting example, FIG. 3 illustrates a scene including UAV10, user 101, a pattern 19, and an object 103. In the case illustratedin FIG. 3, UAV 10 may be configured to follow and/or track user 101 ashe is kayaking. User 101 may have used the functionality attributed toprojection component 24 (which may be integrated into remote controller17) to project a pattern 19 on object 103. Pattern recognition component25 (which may be integrated in UAV 10) may recognize pattern 19. Forexample, pattern recognition component 25 may be configured to analyzevisual information captured by image sensor 15 a (shown in FIG. 1). Thecaptured visual information may include images of pattern 19. Pattern 19may be interpreted as a command and/or request to UAV 10 to perform anaction or operation related to object 103, and/or to mark the currentmoment in relation to the captured information. Performance of an actionor operation by UAV 10 and/or components thereof may correspond to oneor both of flight control information and sensor control information.Performance of an action or operation by UAV 10 and/or componentsthereof may be implemented by one or more of flight control subsystem14, sensor control system 16, flight control component 21, sensorcontrol component 22, gesture interpretation component 23, patternrecognition component 25, and/or other components of UAV 10. Forexample, UAV 10 may be configured to capture image information (throughan image sensor) that includes images of an object (here, object 103)tagged by pattern 19. For example, the action may be taking ahigh-resolution and/or up-close photograph of object 103. For example,the action may be to timestamp the exact moment when user 101 was closeto an object of interest (such as object 103). For example, videoinformation captured by one or more sensors 15 may be processed,subsequent to the video information being captured, based on thetimestamp. In some implementations, the captured information may be usedto create multimedia content based on the captured information.

By way of non-limiting example, FIG. 4 illustrates a scene including UAV10, user 101, user 102, and pattern 19. In the case illustrated in FIG.4, UAV 10 may be configured to follow and/or track user 101 as he isskiing. User 101 may have used the functionality attributed toprojection component 24 (which may be integrated into remote controller17) to project a pattern 19 on user 102. Pattern recognition component25 (which may be integrated in UAV 10) may recognize pattern 19. Pattern19 may be interpreted as a command and/or request to UAV 10 to performan action or operation related to user 102. For example, UAV 10 may beconfigured to capture image information that includes images of the user(here, user 102) tagged by pattern 19. For example, UAV 10 may beinstructed to follow and/or track user 102 instead of user 101. In someimplementations, different patterns may be interpreted as a commandand/or request to UAV 10 to perform an action or operation related toboth user 101 and user 102. For example, in some implementations,pattern 19 may be interpreted as an instruction to include both user 101and user 102 in the visual information captured by the sensor of UAV 10,to the extent possible and/or feasible, but with a preference forincluding user 102. Alternatively, the preference may be to include 101.In some implementations, the preference may be to exclude user 101, suchthat UAV 10 is maneuvered in a position to capture visual informationthat includes user 102 but not user 101.

In some implementations, pattern recognition component 25 may beconfigured to recognize a set and/or sequence of patterns involvingmultiple people and/or multiple objects (e.g. more than two peopleand/or objects). The set and/or sequence of patterns may indicate acompound command and/or request involving particular flight controlinformation and particular sensor control information. For example, UAV10 may be instructed to alternate between positions suitable to capturevisual information of user 101 and user 102 until either user is inproximity of object 103, at which point UAV 10 is instructed to capturea wide-angle high-resolution image including both users. In someimplementations, the compound command and/or request may include asequence of commands, requests, targets, goals, and (hierarchicallyinterpreted) preferences with regard to the position/operation of UAV 10and the operation of one or more sensors 15.

In some implementations, a user may tag multiple locations and/orobjects within a particular area, e.g. a skate park, by projectingpatterns that have particular information embedded within them. Theembedded information may include commands, requests, targets, and/orgoals for the operation of UAV 10, including but not limited to flightcontrol information and/or sensor control information. For example,pattern recognition component 25 may recognize and interpret a firstpattern on a first object within the particular area as requiring aslow-motion video capture if remote controller 17 is in close proximityof the first object. For example, pattern recognition component 25 mayrecognize and interpret a second pattern on a second object within theparticular area as requiring a wide-angle high-resolution panningcapture if remote controller 17 is in close proximity of the secondobject. For example, a user may direct and/or setup a set and/orsequence of patterns, commands, requests for the operation of UAV 10. Insome implementations, information may be sent from remote controller 17to controller interface 18 by a combination of direct transmission andprojected patterns that are recognized and interpreted upon beingcaptured by an image sensor.

Remote controller 17 may be configured to transmit information,including but not limited to flight control information, sensor controlinformation, and/or other information. In some implementations, remotecontroller 17 may be a separate, distinct, and/or physically independentcomponent of UAV 10. In some implementations, remote controller 17 maybe a separate, distinct, and/or physically independent component fromhousing 11. In some implementations, remote controller 17 may beconfigured to be supported, worn, held, and/or carried by a user, e.g.user 101. In some implementations, remote controller 17 may include auser interface (e.g. user interface 76) configured to receive userinput. The user input may include flight control information, sensorcontrol information, and/or other information. In some implementations,the user input may include gestures by a user. In some implementations,gesture interpretation component 25 may be included in remote controller17.

Controller interface 18 may be configured to determine and/or receiveflight control information, sensor control information, and/or otherinformation. For example, controller interface 18 may be configured toreceive flight control information and/or sensor control informationfrom remote controller 17. In some implementations, the controllerinterface may be included, combined, embedded, and/or otherwise form anintegral part of UAV 10 and/or housing 11.

The depiction in FIG. 1 of flight control subsystem 14 including and/orexecuting parameter determination component 20 is not intended to belimiting in any way. In some implementations, parameter determinationcomponent 20 may be included in and/or executed by sensor controlsubsystem 16 and/or any other component of UAV 10. The location ordepiction of a particular computer program component in FIG. 1 is merelyexemplary, and not intended to be limiting in any way.

One or more physical processors 110 may include one or more of a digitalprocessor, an analog processor, a digital circuit designed to processinformation, a central processing unit, a graphics processing unit, ananalog circuit designed to process information, and/or other mechanismsfor electronically processing information. In some implementations,physical processor 110 may include a plurality of processing units.

It should be appreciated that although components 20-25 are illustratedin FIG. 1 as being located and/or co-located within a particularcomponent of UAV 10, in implementations in which physical processor 110includes multiple processing units, one or more of components 20-25 maybe located remotely from the other components. The description of thefunctionality provided by the different components 20-25 describedherein is for illustrative purposes, and is not intended to be limiting,as any of components 20-25 may provide more or less functionality thanis described. For example, one or more of components 20-25 may beeliminated, and some or all of its functionality may be incorporated,shared, integrated into, and/or otherwise provided by other ones ofcomponents 20-25. Note that physical processor 110 may be configured toexecute one or more additional components that may perform some or allof the functionality attributed below to one of components 20-25.

Electronic storage 50 in FIG. 1 comprises electronic storage media thatelectronically stores information. The electronic storage media ofelectronic storage 50 may include one or both of system storage that isprovided integrally (i.e., substantially non-removable) with UAV 10and/or removable storage that is connectable to UAV 10 via, for example,a port (e.g., a USB port, a Firewire port, etc.) or a drive (e.g., adisk drive, etc.). Electronic storage 50 may include one or more ofoptically readable storage media (e.g., optical disks, etc.),magnetically readable storage media (e.g., magnetic tape, magnetic harddrive, floppy drive, etc.), electrical charge-based storage media (e.g.,EPROM, EEPROM, RAM, etc.), solid-state storage media (e.g., flash drive,etc.), and/or other electronically readable storage media. Electronicstorage 50 may store software algorithms, information determined byphysical processor 110 or any computer program components, informationreceived via user interface 76, and/or other information that enablesUAV 10 to function properly. For example, electronic storage 50 maystore captured visual information (as discussed elsewhere herein),and/or other information. Electronic storage 50 may be a separatecomponent within UAV 10, or electronic storage 50 may be providedintegrally with one or more other components of UAV 10 (e.g., physicalprocessor 110).

User interface 76 of UAV 10 in FIG. 1 may be configured to provide aninterface between UAV 10 and a user (e.g. a remote user using agraphical user interface) through which the user can provide informationto and receive information from UAV 10. This enables data, results,and/or instructions and any other communicable items, collectivelyreferred to as “information,” to be communicated between the user andUAV 10. An example of information that may be conveyed to a user is anindication of a flight parameter, a control parameter, etc. Examples ofinterface devices suitable for inclusion in user interface 76 include akeypad, buttons, switches, a keyboard, knobs, levers, a display screen,a touch screen, speakers, a microphone, an indicator light, an audiblealarm, and a printer. Information may be provided to a user by userinterface 76 in the form of auditory signals, visual signals, tactilesignals, and/or other sensory signals.

It is to be understood that other communication techniques, eitherhard-wired or wireless, are also contemplated herein as user interface76. For example, in one embodiment, user interface 76 may be integratedwith a removable storage interface provided by electronic storage 50. Inthis example, information is loaded into UAV 10 from removable storage(e.g., a smart card, a flash drive, a removable disk, etc.) that enablesthe user(s) to customize UAV 10. Other exemplary input devices andtechniques adapted for use with UAV 10 as user interface 76 include, butare not limited to, an RS-232 port, RF link, an IR link, modem(telephone, cable, Ethernet, internet or other). In short, any techniquefor communicating information with UAV 10 is contemplated as userinterface 76.

F1G. 5 illustrates a method 500 for controlling an unmanned aerialvehicle. The operations of method 500 presented below are intended to beillustrative. In certain implementations, method 500 may be accomplishedwith one or more additional operations not described, and/or without oneor more of the operations discussed. Additionally, the order in whichthe operations of method 500 are illustrated in FIG. 5 and describedbelow is not intended to be limiting.

In certain implementations, method 500 may be implemented in one or moreprocessing devices (e.g., a digital processor, an analog processor, adigital circuit designed to process information, an analog circuitdesigned to process information, and/or other mechanisms forelectronically processing information). The one or more processingdevices may include one or more devices executing some or all of theoperations of method 500 in response to instructions storedelectronically on an electronic storage medium. The one or moreprocessing devices may include one or more devices configured throughhardware, firmware, and/or software to be specifically designed forexecution of one or more of the operations of method 500.

Regarding method 500, at an operation 502, output signals are generatedthat convey visual information. In some embodiments, operation 502 isperformed by a sensor the same as or similar to sensor 15 (shown in FIG.1 and described herein).

At an operation 504, flight control information and sensor controlinformation are transmitted. In some embodiments, operation 504 isperformed by a remote controller the same as or similar to remotecontroller 17 (shown in FIG. 2 and described herein).

At an operation 506, the flight control information and the sensorcontrol information are received. In some embodiments, operation 506 isperformed by a controller interface the same as or similar to controllerinterface 18 (shown in FIG. 1 and described herein).

At an operation 508, flight control for the unmanned aerial vehicle isprovided based on the flight control information. In some embodiments,operation 508 is performed by a flight control subsystem the same as orsimilar to flight control subsystem 14 (shown in FIG. 1 and describedherein).

At an operation 510, the sensor is controlled based on the sensorcontrol information such that the visual information includes an imageof a user. In some embodiments, operation 510 is performed by a sensorcontrol subsystem the same as or similar to sensor control subsystem 16(shown in FIG. 1 and described herein).

At an operation 512, one or more gestures from the user are recognized.In some embodiments, operation 512 is performed by a gestureinterpretation component and/or a controller interface the same as orsimilar to gesture interpretation component 25 and/or controllerinterface 18, respectively (shown in FIG. 1 and described herein).Recognition of gestures may be performed at or near the location of theuser, at or near the location of the unmanned aerial vehicle, and/orboth.

At an operation 514, the one or more gestures are interpreted as one orboth of the flight control information and the sensor controlinformation. In some embodiments, operation 514 is performed by agesture interpretation component and/or a controller interface the sameas or similar to gesture interpretation component 25 and/or controllerinterface 18, respectively (shown in FIG. 1 and described herein).Interpretation of gestures may be performed at or near the location ofthe user, at or near the location of the unmanned aerial vehicle, and/orboth.

Although the invention has been described in detail for the purpose ofillustration based on what is currently considered to be the mostpractical and preferred implementations, it is to be understood thatsuch detail is solely for that purpose and that the invention is notlimited to the disclosed implementations, but, on the contrary, isintended to cover modifications and equivalent arrangements that arewithin the spirit and scope of the appended claims. For example, it isto be understood that the present invention contemplates that, to theextent possible, one or more features of any embodiment can be combinedwith one or more features of any other embodiment.

1-20. (canceled).
 21. A system, comprising: an image sensor configuredto provide visual information; and one or more physical processorsconfigured by computer-readable instructions to: recognize one or moregestures based on the visual information; interpret the one or moregestures as flight control information; and provide flight control foran aerial vehicle based on the flight control information.
 22. Thesystem of claim 21, wherein the one or more physical processors arefurther configured by the computer-readable instructions to: interpretthe one or more gestures as sensor control information; and control theimage sensor based on the sensor control information.
 23. The system ofclaim 22, wherein to control the image sensor based on the sensorcontrol information comprises to: control the image sensor throughadjustments of at least one of aperture timing, exposure, focal length,angle of view, depth of field, focus, light metering, white balance,resolution, frame rate, object of focus, capture angle, a zoomparameter, video format, a sound parameter, or a compression parameter.24. The system of claim 22, further comprising: a remote controllerconfigured to provide at least one of the flight control information orthe sensor control information to the one or more physical processors.25. The system of claim 24, wherein the remote controller is furtherconfigured to be carried or worn by a user.
 26. The system of claim 24,wherein the remote controller is further configured to project a patternon an object, wherein the one or more physical processors is furtherconfigured by the computer-readable instructions to: recognize thepattern based on the visual information; and interpret the pattern as atleast one of the flight controller information or the sensor controlinformation.
 27. The system of claim 24, wherein the one or morephysical processors are further configured by the computer-readableinstructions to: provide the flight control for the aerial vehicle suchthat a target altitude differential between the aerial vehicle and theremote controller is maintained, wherein the one or more gesturesinclude a gesture interpreted by the one or more physical processors toadjust the target altitude differential.
 28. The system of claim 24,wherein the one or more physical processors are further configured bythe computer-readable instructions to: provide the flight control forthe aerial vehicle such that a target cardinal direction between theaerial vehicle and the remote controller is maintained, wherein the oneor more gestures include a gesture interpreted by the one or morephysical processors to adjust the target cardinal direction.
 29. Thesystem of claim 24, wherein the one or more physical processors arefurther configured by the computer-readable instructions to: provide theflight control for the aerial vehicle such that a target distancebetween the aerial vehicle and the remote controller is maintained,wherein the one or more gestures include a gesture interpreted by one ormore physical processors to adjust the target distance.
 30. The systemof claim 24, wherein the one or more physical processors are furtherconfigured by the computer-readable instructions to: provide the flightcontrol for the aerial vehicle such that a target distance between theaerial vehicle and the remote controller is maintained, wherein the oneor more gestures include a gesture interpreted by the one or morephysical processors to rotate the aerial vehicle around the remotecontroller by a predetermined number of degrees.
 31. The system of claim21, wherein the one or more physical processors are further configuredby the computer-readable instructions to: provide the flight control forthe aerial vehicle such that a target distance between the aerialvehicle and an object is maintained, wherein the one or more gesturesinclude a gesture interpreted by the one or more physical processors toadjust the target distance.
 32. The system of claim 21, wherein theflight control includes control of at least one of altitude, longitude,latitude, geographical location, heading, or speed of the aerialvehicle.
 33. A method for controlling an aerial vehicle, the methodbeing implemented in a system including a sensor and a processor, themethod comprising: recognizing one or more gestures based on visualinformation; interpreting the one or more gestures as flight controlinformation; and providing flight control for the aerial vehicle basedon the flight control information.
 34. The method of claim 33, furthercomprising: interpreting the one or more gestures as sensor controlinformation; and controlling the sensor based on the sensor controlinformation.
 35. The method of claim 34, wherein controlling the sensorbased on the sensor control information comprises: controlling thesensor through adjustments of at least one of aperture timing, exposure,focal length, angle of view, depth of field, focus, light metering,white balance, resolution, frame rate, object of focus, capture angle, azoom parameter, video format, a sound parameter, or a compressionparameter.
 36. The method of claim 34, further comprising: receiving atleast one of the flight control information or the sensor controlinformation from a remote controller.
 37. The method of claim 36,wherein the remote controller is further configured to project a patternon an object, the method further comprising: recognizing the patternbased on the visual information; and interpreting the pattern as atleast one of the flight controller information or the sensor controlinformation.
 38. The method of claim 36, wherein providing the flightcontrol for the aerial vehicle based on the flight control informationcomprises: maintaining a target altitude differential between the aerialvehicle and the remote controller; and interpreting the one or moregestures to effectuate an adjustment of the target altitudedifferential.
 39. The method of claim 33, wherein the flight controlincludes control of at least one of altitude, longitude, latitude,geographical location, heading, or speed of the aerial vehicle.
 40. Amethod, comprising: recognizing one or more gestures based on visualinformation; and providing flight control for an aerial vehicle based onthe one or more gestures.